Construction and PID Control for Stability of an Unmanned Aerial Vehicle of the Type Quadrotor

被引：0

作者：

Sa, Rejane Cavalcante ^{[1
]}

de Araujo, Andre Luiz C. ^{[1
]}

Varela, Antonio T. ^{[1
]}

Barreto, Guilherme de A. ^{[2
]}

机构：

[1] IFCE, Dept Control & Ind Proc, Fed Inst Ceara, Fortaleza, Ceara, Brazil

[2] Fed Univ Ceara UFC, Dept Teleinformat Engn, Fortaleza, Ceara, Brazil

来源：

2013 IEEE LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS 2013) | 2013年

关键词：

Quadrotor; Unmanned Aerial Vehicle; PID Controller; Dynamic Model;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the development of an unmanned aerial vehicle of type quadrirotor, its dynamic model, besides simulations and tests of a PID controller for the projected structure embedded stabilization (vertical direction motion). This vehicle is characterized by having four motors, which are responsible for generating the platform movement. This work objective is to show a structure, type quadrotor, development (design and construction), presenting a mathematical model of quadrotor based on the Newton-Euler formalism and a microcontroller system project used for the PID controller, used for stabilization and driving the motors, as well as the classical PID controller simulation in Simulink (R)/Matlab environment and the tests in the developed structure.

引用

页码：95 / 99

页数：5

共 21 条

[1] High-order sliding-mode observer for a quadrotor UAV [J].

Benallegue, A. ;

Mokhtari, A. ;

Fridman, L. .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2008, 18 (4-5) :427-440

[2]

Bouabdallah S, 2005, IEEE INT CONF ROBOT, P2247

[3]

Bouabdallah S., 2007, Technical report

[4] Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory [J].

Colorado, J. ;

Barrientos, A. ;

Martinez, A. ;

Lafaverges, B. ;

Valente, J. .

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, :1617-1622

[5]

Craig J.J., 2008, Introduction To Robotics: Mechanics And Control

[6] Design of Attitude Control System for an UAV Type-Quadrotor Based on Dynamic Contraction Method [J].

Czyba, Roman .

2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, :644-649

[7]

de MELO A., 2010, THESIS

[8]

Dragonflyer X4 helicopter, 2012, TECHN SPEC

[9]

Fowers S., 2008, THESIS

[10] On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor [J].

Ghadiok, Vaibhav ;

Goldin, Jeremy ;

Ren, Wei .

AUTONOMOUS ROBOTS, 2012, 33 (1-2) :41-68

← 1 2 3 →